Learning about objects using touch: experiments with the iCub humanoid robot
The iCub is a humanoid robot shaped as a four years old child with 53 degrees of freedom in the head, arms and legs. The iCub is equipped with a tactile system of capacitive sensors, approximately 4500 sensors distributed in the hands, arms, torso and legs. These sensors have been used to control the interaction between the robot and the environment, from whole-body control using vision and touch to tactile-driven object exploration and manipulation. In this talk I will revise the tactile system and its applications on the iCub robot, focusing in particular on our recent work on active tactile exploration, object modeling and object recognition.